CN117823607A - Gear and gear reducer for humanoid robot - Google Patents
Gear and gear reducer for humanoid robot Download PDFInfo
- Publication number
- CN117823607A CN117823607A CN202410024577.XA CN202410024577A CN117823607A CN 117823607 A CN117823607 A CN 117823607A CN 202410024577 A CN202410024577 A CN 202410024577A CN 117823607 A CN117823607 A CN 117823607A
- Authority
- CN
- China
- Prior art keywords
- gear
- driving
- transmission shaft
- driven gear
- driven
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 124
- 230000000694 effects Effects 0.000 claims abstract description 6
- 230000000903 blocking effect Effects 0.000 claims description 5
- 230000002349 favourable effect Effects 0.000 description 10
- 241000282414 Homo sapiens Species 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
Abstract
The application relates to the technical field of gear reduction equipment, specifically discloses a gear and gear reducer that humanoid robot used, its technical scheme main points are: the device comprises a shell, a first transmission shaft, a second transmission shaft, a first gear set, a second gear set and an adjusting mechanism, wherein the first transmission shaft and the second transmission shaft are connected to the shell, the first gear set comprises a first driving gear and a first driven gear, the second gear set comprises a second driving gear and a second driven gear, the adjusting mechanism is used for driving the second transmission shaft to move, when the second transmission shaft moves to the position where the first driving gear is opposite to the first driven gear, the first driving gear is meshed with the first driven gear, and when the second transmission shaft moves to the position where the second driving gear is opposite to the second driven gear, the second driving gear is meshed with the second driven gear. The robot working flexibility improvement method has the effect of improving the robot working flexibility.
Description
Technical Field
The application relates to the technical field of gear reduction equipment, in particular to a gear and a gear reducer for a humanoid robot.
Background
The robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. The robot has the basic characteristics of perception, decision making, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves the life of the human beings, and enlarges or extends the activity and capacity range of the human beings.
The gear reduction box works according to the principle that the prime motor is connected with the reduction box and the reduction box is connected with the working machine, and is power transmission equipment. In the field of robots, in order to avoid that a motor directly drives a load and protect the motor, a gear reducer is usually connected to an output shaft of the motor, and the gear ratios of the motor are changed through gear engagement of different diameters, so that torque is improved.
Aiming at the related technology, the inventor considers that the gear meshing mode in the gear reduction box is fixed, so that the transmission ratio is fixed, the working requirement of the robot is higher, various different working scenes are required to be met, and the single transmission ratio reduces the working flexibility of the robot.
Disclosure of Invention
In order to improve the working flexibility of the robot, the application provides a gear and a gear reducer for a humanoid robot.
The application provides a gear and gear reducer that humanoid robot used adopts following technical scheme:
the utility model provides a gear that humanoid robot used, includes casing, first transmission shaft, second transmission shaft, first gear train, second gear train and adjustment mechanism, first transmission shaft with the second transmission shaft is parallel arrangement and rotates connect in the casing, first gear train includes first driving gear and first driven gear, the second gear train includes second driving gear and second driven gear, first driving gear with the fixed cover of second driving gear is located first transmission shaft, first driven gear with the fixed cover of second driven gear is located the second transmission shaft, adjustment mechanism set up in be used for driving on the casing the second transmission shaft removes along its length direction, when the second transmission shaft removes to first driving gear with first driven gear is just to the position, first driving gear with first driven gear meshes, when the second transmission shaft removes to second driving gear with second driven gear is just to the position, second driving gear meshes with second driven gear mutually.
Through adopting above-mentioned technical scheme, the casing supports first transmission shaft, the second transmission shaft, first gear train, second gear train and adjustment mechanism, when adjustment mechanism drive second transmission shaft moved to first driving gear and first driven gear just to the position, first driving gear meshes with first driven gear, first transmission shaft drives the rotation of second transmission shaft through first driving gear and first driven gear that mesh, gear output transmission ratio this moment, when adjustment mechanism drive second transmission shaft moved to second driving gear and second driven gear just to the position, second driving gear meshes with second driven gear, first transmission shaft drives the rotation of second transmission shaft through second driving gear and second driven gear that mesh, gear output another transmission ratio this moment is favorable to improving robot's work flexibility, thereby can make the robot satisfy more different working scenarios.
Preferably, the adjusting mechanism comprises a driving assembly, a guide piece and a connecting plate, one end of the connecting plate is rotationally sleeved on the second transmission shaft, the other end of the connecting plate is connected to the driving assembly, the driving assembly is arranged on the casing and used for driving the connecting plate to move along the length direction of the second transmission shaft, and the guide piece guides the movement of the connecting plate.
Through adopting above-mentioned technical scheme, the connecting plate is connected the second transmission shaft on drive assembly, when need adjust the position of second transmission shaft, drive assembly drive connecting plate moves along the length direction of second transmission shaft for first driving gear meshes with first driven gear or makes second driving gear mesh with second driven gear mutually, thereby realizes the change to the transmission ratio output, and the guide piece is led the removal of connecting plate, is favorable to improving the stability when the second transmission shaft removes.
Preferably, the driving assembly comprises a driving piece, a screw rod and a sliding block, the screw rod is parallel to the second transmission shaft and is rotationally connected with the casing, the driving piece is arranged on the casing and used for driving the screw rod to rotate, the sliding block is in threaded sleeve with the screw rod, and one end, away from the second transmission shaft, of the connecting plate is fixedly connected with the sliding block.
Through adopting above-mentioned technical scheme, driving piece drive lead screw rotates, and pivoted lead screw drives the slider and removes along the length direction of wire pole to the connecting plate that the drive was fixed on the slider removes along the length direction of wire pole, and the connecting plate drives the second transmission shaft again and removes, thereby realizes the adjustment to second transmission shaft position.
Preferably, the guide piece is a guide rod, the guide rod is fixedly arranged on the casing, the guide rod is parallel to the second transmission shaft, and the guide rod movably penetrates through the connecting plate.
Through adopting above-mentioned technical scheme, the guide bar is led the removal of connecting plate, is favorable to improving the stability when the second transmission shaft removes.
Preferably, the driving piece comprises a first driving motor, a driving wheel, a driven wheel and a belt, wherein the first driving motor is fixedly arranged on the casing, the driving wheel is fixedly sleeved on an output shaft of the first driving motor, the driven wheel is fixedly sleeved on one end of the screw rod, and the belt compactly surrounds the driving wheel and the driven wheel.
Through adopting above-mentioned technical scheme, the output shaft of first driving motor rotates in order to drive the action wheel and rotates, and pivoted action wheel passes through the belt and drives from the driving wheel rotation, and from the driving wheel rotation drive lead screw rotation to realize driving the second transmission shaft and remove.
Preferably, the casing is provided with a first limiting block for blocking the slider from continuously moving towards one end of the casing, and when the slider is abutted to the first limiting block, the first driving gear is directly meshed with the first driven gear.
Through adopting above-mentioned technical scheme, when slider butt in first stopper, first driving gear just meshes with first driven gear, and first stopper stops the removal of slider spacing, is favorable to improving the stability when first driving gear and first driven gear mesh mutually.
Preferably, the casing is provided with a second limiting block for blocking the slider from continuously moving towards the other end of the casing, and when the slider abuts against the second limiting block, the second driving gear is directly meshed with the second driven gear.
Through adopting above-mentioned technical scheme, when the slider butt in the second stopper, second driving gear just meshes with the second driven gear, and the removal of slider is converted to the second stopper stops spacingly, is favorable to improving the stability when second driving gear and second driven gear mesh mutually.
Preferably, the diameter of the first driving gear is larger than the diameter of the first driven gear, and the diameter of the second driving gear is smaller than the diameter of the second driven gear.
Through adopting above-mentioned technical scheme, this setting makes the gear can output two kinds of different transmission ratios, is favorable to improving the work flexibility of robot to can satisfy more working scenario.
Preferably, one end of the second transmission shaft is provided with a connecting seat, the connecting seat comprises a first rotary table, a second rotary table, a telescopic rod and an output shaft, the output shaft rotates to penetrate through the shell, the first rotary table is fixedly sleeved on the end part of the output shaft penetrating through the shell, the second rotary table is fixedly sleeved on the end part of the second transmission shaft, one end of the telescopic rod is vertically and fixedly connected with the second rotary table, and the other end of the telescopic rod movably penetrates through the first rotary table.
Through adopting above-mentioned technical scheme, first carousel, second carousel, telescopic link and output shaft are connected the one end of second transmission shaft on the casing, and along with the removal of second transmission shaft, because the telescopic link activity wears to locate first carousel for the removal of second transmission shaft can not drive the output shaft and remove, thereby is favorable to improving the stability of output shaft when the transmission ratio changes.
The gear reducer comprises the gear, a second driving motor, a third driving gear and a third driven gear, wherein the second driving motor is fixedly arranged on the shell, the third driving gear is fixedly sleeved on an output shaft of the second driving motor, the third driven gear is fixedly sleeved on the first transmission shaft, and the third driving gear is meshed with the third driven gear
Through adopting above-mentioned technical scheme, the output shaft of second driving motor drives the rotation of third driving gear, and the third driving main wheel drives first transmission shaft through the third driven gear of meshing to realize the operation of speed reducer, and the speed reducer realizes outputting different transmission ratios through first driving gear and first driven gear of meshing or second driving gear and second driven gear of meshing, thereby is favorable to improving the work flexibility of robot.
In summary, the present application includes at least one of the following beneficial technical effects:
1. through setting up first transmission shaft, the second transmission shaft, first gear train, second gear train and adjustment mechanism, when adjustment mechanism drive second transmission shaft moved to first driving gear and first driven gear just to the position, first driving gear meshes with first driven gear mutually, first transmission shaft drives the second transmission shaft through first driving gear and the first driven gear of meshing and rotates, gear output a transmission ratio this moment, when adjustment mechanism drive second transmission shaft moved to second driving gear and second driven gear just to the position, second driving gear meshes with second driven gear, first transmission shaft drives the second transmission shaft through second driving gear and the second driven gear of meshing and rotates, gear output another transmission ratio this moment is favorable to improving the work flexibility of robot, thereby can make the robot satisfy more different working scenario.
2. Through setting up driving piece, lead screw and slider, driving piece drive lead screw rotates, and pivoted lead screw drives the slider and removes along the length direction of lead screw to the connecting plate that the drive was fixed on the slider removes along the length direction of lead screw, and the connecting plate drives the second transmission shaft again and removes, thereby realizes the adjustment to second transmission shaft position.
3. Through setting up first driving motor, action wheel, follow driving wheel and belt, the output shaft of first driving motor rotates in order to drive the action wheel and rotates, and pivoted action wheel passes through the belt and drives from the driving wheel rotation, rotates from the driving wheel and drives the lead screw rotation to realize driving the second transmission shaft and remove.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a gear reducer in an embodiment of the present application.
Fig. 2 is a schematic structural view of a gear reducer according to another embodiment of the present application.
Fig. 3 is an enlarged view of a portion a in fig. 1.
Fig. 4 is an enlarged view of the portion B in fig. 1.
Reference numerals illustrate:
1. a housing; 2. a first drive shaft; 3. a second drive shaft; 4. a first gear set; 41. a first drive gear; 42. a first driven gear; 5. a second gear set; 51. a second drive gear; 52. a second driven gear; 6. an adjusting mechanism; 61. a drive assembly; 611. a driving member; 6111. a first driving motor; 6112. a driving wheel; 6113. driven wheel; 6114. a belt; 612. a screw rod; 613. a slide block; 62. a guide rod; 63. a connecting plate; 7. a first limiting block; 8. a second limiting block; 9. a connecting seat; 91. a first turntable; 92. a second turntable; 93. a telescopic rod; 94. an output shaft; 10. a second driving motor; 11. a third drive gear; 12. and a third driven gear.
Detailed Description
The present application is described in further detail below in conjunction with figures 1-4.
The embodiment of the application discloses gear that humanoid robot used, refer to fig. 1, including casing 1, first transmission shaft 2, second transmission shaft 3, first gear train 4, second gear train 5 and adjustment mechanism 6, casing 1 supports first transmission shaft 2, second transmission shaft 3, first gear train 4, second gear train 5 and adjustment mechanism 6, and first transmission shaft 2 and second transmission shaft 3 are parallel arrangement and rotate and connect in casing 1, simultaneously, first transmission shaft 2 and second transmission shaft 3 realize the linkage through first gear train 4 or second gear train 5, in order to produce different transmission ratios.
Referring to fig. 1, the first gear set 4 includes a first driving gear 41 and a first driven gear 42, the second gear set 5 includes a second driving gear 51 and a second driven gear 52, the first driving gear 41 and the second driving gear 51 are fixedly sleeved on the first transmission shaft 2, a gap is formed between the first driving gear 41 and the second driving gear 51, the first driven gear 42 and the second driven gear 52 are fixedly sleeved on the second transmission shaft 3, a gap is formed between the first driven gear 42 and the second driven gear 52, and the adjusting mechanism 6 is arranged on the casing 1 and is used for driving the second transmission shaft 3 to move along the length direction thereof so as to align the first driving gear 41 with the first driven gear 42 or align the second driving gear 51 with the second driven gear 52. When the second transmission shaft 3 moves to a position where the first driving gear 41 and the first driven gear 42 are opposite, the first driving gear 41 is meshed with the first driven gear 42, the second driving gear 51 is separated from the second driven gear 52, and the first transmission shaft 2 drives the second transmission shaft 3 to rotate through the meshed first driving gear 41 and first driven gear 42 so as to generate torque with a transmission ratio; when the second transmission shaft 3 moves to a position where the second driving gear 51 and the second driven gear 52 are opposite, the second driving gear 51 and the second driven gear 52 are meshed, the first driving gear 41 is separated from the first driven gear 42, and the first transmission shaft 2 drives the second transmission shaft 3 to rotate through the meshed second driving gear 51 and second driven gear 52 so as to generate torque with another transmission ratio.
In the present embodiment, the diameter of the first driving gear 41 is larger than the diameter of the first driven gear 42, and the diameter of the second driving gear 51 is smaller than the diameter of the second driven gear 52.
Referring to fig. 1 and 2, one end of the second transmission shaft 3 is provided with a connecting seat 9, specifically, the connecting seat 9 includes a first rotary disc 91, a second rotary disc 92, telescopic rods 93 and an output shaft 94, the output shaft 94 rotates to penetrate through the casing 1, and the output shaft 94 and the second transmission shaft 3 are located on the same axis, the first rotary disc 91 is fixedly sleeved on the end portion of the output shaft 94 penetrating through the casing 1, the second rotary disc 92 is fixedly sleeved on the end portion of the second transmission shaft 3, one end of the telescopic rods 93 is vertically and fixedly connected with the second rotary disc 92, the other end of the telescopic rods 93 movably penetrates through the first rotary disc 91, in this embodiment, four telescopic rods 93 are arranged, and four telescopic rods 93 evenly surround the periphery of the rotation shaft at intervals, so that stability of the second transmission shaft 3 during movement is further improved.
Referring to fig. 1, the adjusting mechanism 6 includes a driving assembly 61, a guide member and a connecting plate 63, one end of the connecting plate 63 is rotatably sleeved on the second transmission shaft 3 through a bearing, the other end of the connecting plate 63 is connected to the driving assembly 61, and the driving assembly 61 is disposed on the casing 1 and is used for driving the connecting plate 63 to move along the length direction of the second transmission shaft 3, so as to achieve engagement of the first driving gear 41 and the first driven gear 42 or engagement of the second driving gear 51 and the second driven gear 52. At the same time, the guide guides the movement of the connection plate 63.
Referring to fig. 1, the driving assembly 61 includes a driving member 611, a screw rod 612 and a slider 613, the screw rod 612 is parallel to the second transmission shaft 3 and is rotatably connected to the casing 1, the driving member 611 is disposed on the casing 1 and is used for driving the screw rod 612 to rotate, the slider 613 is threadedly sleeved on the screw rod 612, and one end of the connecting plate 63 far away from the second transmission shaft 3 is fixedly connected to a side wall of the slider 613. When the driving piece 611 drives the screw rod 612 to rotate, the rotating screw rod 612 drives the sliding block 613 to move along the length direction of the screw rod 612, and the moving sliding block 613 drives the second transmission shaft 3 to move through the connecting plate 63. In this embodiment, the guide member is set to be the guide bar 62, and the guide bar 62 is fixed to be set up in casing 1, and the guide bar 62 is on a parallel with the second transmission shaft 3, and the guide bar 62 activity wears to locate the connecting plate 63, and when the connecting plate 63 moved under the drive of slider 613, the guide bar 62 was led the removal of connecting block, is favorable to improving the stability when the second transmission shaft 3 moved simultaneously.
Referring to fig. 1 and 3, the driving member 611 includes a first driving motor 6111, a driving wheel 6112, a driven wheel 6113, and a belt 6114, specifically, the first driving motor 6111 is fixedly disposed on the casing 1, an output shaft of the first driving motor 6111 is parallel to the screw rod 612, the driving wheel 6112 is fixedly sleeved on the output shaft of the first driving motor 6111, the driven wheel 6113 is fixedly sleeved on one end of the screw rod 612 close to the first driving motor 6111, and the belt 6114 compactly surrounds the driving wheel 6112 and the driven wheel 6113. The rotation of the output shaft of the first driving motor 6111 drives the driving wheel 6112 to rotate, the driving wheel 6112 drives the driven wheel 6113 to rotate through the belt 6114, and the driven wheel 6113 drives the screw rod 612 to rotate, so that the movement of the second transmission shaft 3 is driven. The first driving motor 6111 is a servo motor that can be rotated in the forward and reverse directions.
Referring to fig. 1 and 4, the casing 1 is provided with a first stopper 7 for stopping the slider 613 from continuing to move toward one end thereof, and when the slider 613 abuts against the first stopper 7, the first driving gear 41 is directly engaged with the first driven gear 42 to prevent the first driving gear 41 and the first driven gear 42 from being separated when engagement is required. Meanwhile, the casing 1 is further provided with a second limiting block 8 for blocking the slider 613 from continuously moving towards the other end of the casing, and when the slider 613 abuts against the second limiting block 8, the second driving gear 51 is directly opposite to the second driven gear 52 to be meshed, so that the second driving gear 51 and the second driven gear 52 are prevented from being separated when being meshed.
The embodiment of the application also discloses a gear reducer, refer to fig. 1 and 2, including foretell gear, still include second driving motor 10, third driving gear 11 and third driven gear 12, second driving motor 10 is fixed to be set up in casing 1, and the output shaft of second driving motor 10 is on a parallel with first transmission shaft 2, the fixed cover of third driving gear 11 locates the output shaft of second driving motor 10, the fixed cover of third driven gear 12 locates the one end of first transmission shaft 2, and third driving gear 11 meshes with third driven gear 12. The rotation of the output shaft of the second driving motor 10 drives the third driving gear 11 to rotate, and the third driving gear 11 drives the first transmission shaft 2 to rotate through the meshed third driven gear 12, so that the operation of the speed reducer is realized.
The implementation principle of the gear and the gear reducer for the humanoid robot is as follows: the second driving motor 10 drives the first transmission shaft 2 to rotate through the third driving gear 11 and the third driven gear 12, when the first driving motor 6111 drives the second transmission shaft 3 to move, so that the first driving gear 41 is meshed with the first driven gear 42, the rotating first transmission shaft 2 drives the second transmission shaft 3 to rotate through the meshed first driving gear 41 and first driven gear 42, and the second transmission shaft 3 rotates to drive the output shaft 94 to rotate with torque of a transmission ratio; when the first driving motor 6111 drives the second driving shaft 3 to move, so that the second driving gear 51 is meshed with the second driven gear 52, the rotating first driving shaft 2 drives the second driving shaft 3 to rotate through the meshed second driving gear 51 and second driven gear 52, and the second driving shaft 3 rotates to drive the output shaft 94 to rotate with the torque of another transmission ratio, which is beneficial to improving the working flexibility of the robot, so that the robot can meet more different working scenes.
The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (10)
1. A gear for a humanoid robot, characterized by: comprises a shell (1), a first transmission shaft (2), a second transmission shaft (3), a first gear set (4), a second gear set (5) and an adjusting mechanism (6), wherein the first transmission shaft (2) and the second transmission shaft (3) are arranged in parallel and are rotationally connected with the shell (1), the first gear set (4) comprises a first driving gear (41) and a first driven gear (42), the second gear set (5) comprises a second driving gear (51) and a second driven gear (52), the first driving gear (41) and the second driving gear (51) are fixedly sleeved on the first transmission shaft (2), the first driven gear (42) and the second driven gear (52) are fixedly sleeved on the second transmission shaft (3), the adjusting mechanism (6) is arranged on the shell (1) and is used for driving the second transmission shaft (3) to move along the length direction of the first driving gear (41) and the second driven gear (52), when the second transmission shaft (3) moves to the first driving gear (41) and the first driven gear (42) and the second driven gear (42) are opposite to each other, and when the first driving gear (42) and the second driven gear (52) are opposite to each other and the first driving gear (42) and the second driven gear (42) and the second driving gear (42), the second driving gear (51) is meshed with the second driven gear (52).
2. A gear for a humanoid robot as claimed in claim 1, wherein: the adjusting mechanism (6) comprises a driving assembly (61), a guide piece and a connecting plate (63), one end of the connecting plate (63) is rotatably sleeved on the second transmission shaft (3), the other end of the connecting plate (63) is connected to the driving assembly (61), the driving assembly (61) is arranged on the casing (1) and used for driving the connecting plate (63) to move along the length direction of the second transmission shaft (3), and the guide piece guides the movement of the connecting plate (63).
3. A gear for a humanoid robot as claimed in claim 2, wherein: the driving assembly (61) comprises a driving piece (611), a screw rod (612) and a sliding block (613), the screw rod (612) is parallel to the second transmission shaft (3) and is rotationally connected with the casing (1), the driving piece (611) is arranged on the casing (1) and is used for driving the screw rod (612) to rotate, the sliding block (613) is in threaded sleeve with the screw rod (612), and one end, away from the second transmission shaft (3), of the connecting plate (63) is fixedly connected with the sliding block (613).
4. A gear for a humanoid robot as claimed in claim 2, wherein: the guide piece is arranged to be a guide rod (62), the guide rod (62) is fixedly arranged on the casing (1), the guide rod (62) is parallel to the second transmission shaft (3), and the guide rod (62) movably penetrates through the connecting plate (63).
5. A gear for a humanoid robot as claimed in claim 3, wherein: the driving piece (611) comprises a first driving motor (6111), a driving wheel (6112), a driven wheel (6113) and a belt (6114), wherein the first driving motor (6111) is fixedly arranged on the shell (1), the driving wheel (6112) is fixedly sleeved on an output shaft of the first driving motor (6111), the driven wheel (6113) is fixedly sleeved on one end of the screw rod (612), and the belt (6114) compactly surrounds the driving wheel (6112) and the driven wheel (6113).
6. A gear for a humanoid robot as claimed in claim 3, wherein: the casing (1) is provided with a first limiting block (7) for blocking the sliding block (613) from continuously moving towards one end of the casing, and when the sliding block (613) abuts against the first limiting block (7), the first driving gear (41) is directly opposite to the first driven gear (42) to be meshed.
7. A gear for a humanoid robot as claimed in claim 3, wherein: the casing (1) is provided with a second limiting block (8) for blocking the sliding block (613) from continuously moving towards the other end of the casing, and when the sliding block (613) is abutted against the second limiting block (8), the second driving gear (51) is directly opposite to the second driven gear (52) to be meshed.
8. A gear for a humanoid robot as claimed in claim 1, wherein: the diameter of the first driving gear (41) is larger than that of the first driven gear (42), and the diameter of the second driving gear (51) is smaller than that of the second driven gear (52).
9. A gear for a humanoid robot as claimed in claim 1, wherein: the one end of second transmission shaft (3) is provided with connecting seat (9), connecting seat (9) include first carousel (91), second carousel (92), telescopic link (93) and output shaft (94), output shaft (94) rotate wear to locate casing (1), first carousel (91) fixed cover is located output shaft (94) penetrate the tip of casing (1), second carousel (92) fixed cover is located the tip of second transmission shaft (3), the one end vertical fixation of telescopic link (93) in second carousel (92), the other end activity of telescopic link (93) wear to locate first carousel (91).
10. A gear reducer comprising a gear as claimed in any one of claims 1 to 9, characterized in that: the novel electric motor driving device is characterized by further comprising a second driving motor (10), a third driving gear (11) and a third driven gear (12), wherein the second driving motor (10) is fixedly arranged on the machine shell (1), the third driving gear (11) is fixedly sleeved on an output shaft of the second driving motor (10), the third driven gear (12) is fixedly sleeved on the first transmission shaft (2), and the third driving gear (11) is meshed with the third driven gear (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410024577.XA CN117823607A (en) | 2024-01-06 | 2024-01-06 | Gear and gear reducer for humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410024577.XA CN117823607A (en) | 2024-01-06 | 2024-01-06 | Gear and gear reducer for humanoid robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117823607A true CN117823607A (en) | 2024-04-05 |
Family
ID=90511520
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410024577.XA Pending CN117823607A (en) | 2024-01-06 | 2024-01-06 | Gear and gear reducer for humanoid robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117823607A (en) |
-
2024
- 2024-01-06 CN CN202410024577.XA patent/CN117823607A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4502830A (en) | Industrial robot | |
| CN108714941A (en) | A kind of safety-type machine and wood cutting with dust reduction capability | |
| CN207914859U (en) | a kind of automatic welding device | |
| CN107938193B (en) | Template sewing machine with freely rotatable and liftable machine head | |
| CN109849113A (en) | A kind of planer of timber processing | |
| CN110666216B (en) | High-safety-reliability electric punching equipment with function of adjusting punching depth | |
| CN108568812A (en) | A kind of continuous clamping type manipulator | |
| CN207629766U (en) | Whirlpool axis burring mechanism | |
| CN117823607A (en) | Gear and gear reducer for humanoid robot | |
| CN207808102U (en) | A kind of bridge-type cuts greatly machine | |
| CN201189612Y (en) | Double driving apparatus for numerically controlling beam motion of planer-type milling machine | |
| CN203062242U (en) | Servo tapping and drilling machine | |
| CN203125321U (en) | Feeding mechanism of vertical surface grinding machine with round table | |
| CN109544596B (en) | Artificial intelligence binocular vision tracking mechanism based on visual feedback | |
| CN2889567Y (en) | Boring head for hole processing | |
| CN210388308U (en) | Positioner for machining | |
| CN213469852U (en) | Double-end arc cutting machine for welding connecting rod machining | |
| CN111360391A (en) | High-rigidity three-degree-of-freedom stirring welding parallel machine head | |
| CN212191072U (en) | Forging device with automatically-adjusted stroke | |
| CN111347151A (en) | High-rigidity three-degree-of-freedom parallel machine head for friction stir welding | |
| CN209544148U (en) | A kind of efficient automatic coil winding machine | |
| CN208408757U (en) | A kind of gear cutting machine | |
| CN210677203U (en) | Numerical control gear grinding machine | |
| CN102615642B (en) | Parallel manipulator capable of realizing five-coordinate machining capacity | |
| CN209626029U (en) | A kind of winding former it is scalable can fixed angle flying trident coil winding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination |